JPWO2015041200A1 - Drive device - Google Patents

Abstract

The driving device includes a rotor having a spiral protrusion, a stator having a spiral groove, and an output unit driven by movement of the rotor, and a combination of the spiral rotor and the stator. The rotor is composed of one or a plurality of rotor units whose length in the rotor axial direction is shorter than the length of the circulation track, and the rotor unit is in a helical motion with respect to the stator. The movement of the direction allows the rotor to move on the circulation path, the spiral portions of the rotor and the stator are made to face each other, and the magnetic force between them is used to increase the torque density of the driving torque. [Selection] Figure 1

Description

  The present invention relates to a drive device that directly drives a drive target without using a rotational force of a motor via an indirect mechanism such as a gear.

  Among drive devices used in industrial actuators used in industrial equipment, transportation equipment, etc., for example, in an electric vehicle, an in-wheel motor having a combination of a motor and a speed reducer is known and assists in assisting human movement. In assist devices such as robots, a configuration in which a motor and a speed reducer are combined and a configuration by hydraulic pressure are known.

  In the combination of a motor and a reduction gear, the equivalent inertia and mechanical loss increase, which causes a decrease in safety and controllability, so a high torque is required. Since this increase in torque leads to an increase in size and weight of the motor, there is a problem in reducing the size and increasing the torque density.

  Direct drive is known as a mechanism for reducing mechanical loss by transmitting rotational force of a motor to a load without passing through an indirect mechanism such as a gear. For example, Patent Document 1 is known as an example in which direct drive is applied to an in-wheel motor for an electric vehicle, and Patent Documents 2 and 3 are known as examples in which direct drive is applied to an assist robot.

Patent No. 4133125 JP 2010-269392 A Japanese Patent Publication No. 07-041558 Patent No. 4543165

  According to the drive device using the direct drive instead of the configuration in which the motor and the speed reducer are combined, the rotational force of the motor is directly driven without using an indirect mechanism such as a gear. It is expected that torque will be increased by omitting the box. However, since a direct drive mounted on an in-wheel motor for an electric vehicle, an assist device or the like has a normal motor configuration, a large motor with a large rating is used to further increase the torque. Therefore, in order to satisfy the demand for small size and high torque, it is required to increase the torque density of the drive device, and it is difficult for a drive device using a conventionally known direct drive.

  On the other hand, a spiral linear motor (Patent Document 4) is known as a motor that outputs high torque. This spiral linear motor is configured to obtain a high linear driving force by a combination of a helical rotor and a stator. Spiral type linear motors can obtain a large driving force, but the driving direction is straight and suitable for a driving device that performs linear reciprocating motion, but the movable part moves and drives along a circular orbit such as rotational motion. It cannot be applied to a drive device.

  Therefore, the present invention solves the above-described conventional problems, and in a driving device in which a moving part such as a rotational drive moves on a circulation track, the movable part can be moved on the circulation track and the torque of the drive torque can be obtained. The purpose is to increase the density.

  The drive device of the present invention has a configuration in which a helical rotor and a stator are combined, and the rotor is made up of one or more rotor units whose length in the rotor axial direction is shorter than the length of the circulation track. In the helical movement of the rotor unit with respect to the stator, the rotor unit can be moved on the circulation track by the axial movement of the rotor unit, and the helical portions of the rotor and the stator are opposed to each other. The torque density of the driving torque is increased by using the magnetic force between them.

  The drive device of the present invention includes a rotor having a spiral protrusion, a stator having a spiral groove, and an output unit that is driven by the movement of the rotor.

  The rotor includes a rotor shaft and a spiral protrusion provided radially on the outer periphery of the rotor shaft, and spirals by the rotation of the rotor shaft. The rotor is composed of one or a plurality of rotor units whose length in the rotor axial direction is shorter than the length of the circulation track, and each rotor unit is arranged around the rotor shaft in a helical groove of the stator. It can rotate freely in a spiral. The rotor generates a moving torque in the axial direction due to the spiral motion, and moves on the circulation track by this moving torque.

  The helical grooves of the stator have the same pitch as the pitch of the helical protrusions provided in the rotor, and are arranged on the rotor along the circulation path.

  The output unit comes into contact with the rotor and is driven along the circulation path as the rotor moves in the rotor axial direction.

  The rotor unit and the stator are arranged so that the axial side surface of the spiral protrusion of the rotor unit faces the axial side surface of the spiral groove of the stator, and the side surface of the spiral protrusion or the spiral groove A magnetized portion in which N poles and S poles are alternately magnetized at a predetermined equiangular interval is provided on any one of the side surfaces, and the magnetized portion or the like is provided on the other side surface of the spiral protruding portion or the side surface of the spiral groove portion. Excitation portions are arranged at predetermined equal angular intervals different from the angular intervals.

  The exciter controls the excitation of the exciter to advance each rotor unit in the direction of the rotor axis while spirally rotating with respect to the stator, and moves each rotor unit in the direction of the rotor axis. Accordingly, the output unit is moved along the circulation path.

  The plurality of rotor units included in the rotor includes a synchronization unit that synchronizes the rotation speeds of the respective rotor units that rotate around the rotor shaft so as to match the rotation speeds. Since the rotation speed around the rotor axis of the rotor unit and the moving speed moving in the rotor axis direction have a fixed relationship depending on the pitch of the spiral portion, the rotation speed of each rotor unit must be matched. Therefore, the moving speed in the rotor axis direction can be adjusted. By matching the moving speed of each rotor unit in the direction of the rotor axis, the moving speed of each rotor unit moving on the circulation track is matched, and the interval on the circulation track between each rotor unit is kept constant. As a result, the drive can be made smooth.

  In addition to the mechanical configuration, the synchronization unit may be configured by electrical control.

  One aspect of mechanically configuring the synchronization unit includes a universal joint or a universal joint that is rotatably connected between adjacent rotor units in an in-plane direction orthogonal to the rotor axis of each rotor unit. The universal joint or the universal joint is mutually interlocked with the rotational motion around the rotor shaft and the traveling motion in the rotor shaft direction in adjacent rotor units, and averages the rotational speed and the traveling speed. Since all the rotor units on the circulation track are connected by a universal joint or a universal joint between the adjacent rotor units, the rotation speed and the traveling speed of all the rotor units are averaged and become a constant speed.

  The aspect in which the synchronization unit is configured by electrical control is based on a sensor that detects the rotational speed at which each rotor unit rotates around each rotor shaft, and the rotational speed of the rotor unit that is obtained based on the detection signal of the sensor. And a phase control unit that controls the excitation phase of the excitation unit that drives the rotor unit.

  The rotational speed of each rotor unit is detected by each sensor. The phase control unit obtains the rotation speed of each rotor unit based on the detection signal indicating the rotation speed of each rotor unit detected by each sensor, and the excitation unit of the excitation unit matches the rotation speed of each rotor unit. Control the excitation phase. The reference rotational speed for controlling the rotational speed is determined based on a command value, an aspect determined based on a rotational speed obtained from a detection signal of the reference sensor, using one sensor as a reference sensor, and obtained from detection signals of a plurality of sensors. It can be determined in any manner such as a manner defined based on the average value of the rotational speeds.

  All the rotor units on the circulation track are averaged in the rotation speed and the traveling speed by the phase control unit, and become a constant speed.

The arrangement of the rotor and the stator can be a plurality of modes.
In the first arrangement mode of the rotor and the stator, the stator is arranged on the inner side or the outer side with respect to the circulation track on which the rotor moves. According to the first arrangement mode, when the circulation track is circular, the rotor and the stator are arranged in a double ring shape. In the configuration where the stator is arranged on the inside and the rotor is arranged on the outside, the output unit can be easily arranged on the outside of the rotor, and in the configuration where the stator is arranged on the outside and the rotor is arranged on the inside, the output unit is Arrangement inside the rotor is easy.

  In the second arrangement mode of the rotor and the stator, the stator is arranged on the side surface with respect to the circulation track on which the rotor moves. According to the 2nd arrangement | positioning aspect, in the assembly of a stator and a rotor, a mutual helical part can be integrated and a rotor unit can be easily arranged.

  In the second arrangement mode, the stator is arranged on both sides with respect to the circulation track on which the rotor moves, and the rotor is sandwiched between the stators from both sides. It can be set as the structure arrange | positioned on a side surface. According to the configuration in which the rotor is sandwiched between the stators from both sides, the opposing area between the magnetic pole portions of the rotor and the stator is increased, so that the torque density can be increased.

  In the drive device according to the present invention, the circulation track on which the rotor moves is not limited to a circular shape, but may be a substantially elliptical shape, a track shape, or a substantially track shape. The track shape is a shape in which two arcs having the same radius of curvature and arc length are connected by two line segments having the same length, and the substantially track shape is a shape in which the arc radii of the two arcs are different from each other, A similar shape such as a shape having three or more arc shapes is also included.

  In the magnetizing part and the exciting part provided in the rotor unit or the stator, the magnetizing interval is set to 90 °, the exciter is arranged to be arranged at 60 °, and the magnetizing interval is set to 45 °. In addition, an arrangement configuration in which the excitation unit is arranged at intervals of 30 ° can be employed.

  The number of arranged rotor units can be one or more. According to the configuration in which one rotor unit is arranged on the circulation track, the driving torque obtained compared to the configuration in which a plurality of rotor units are arranged on all the circulation tracks is reduced, but the shape of the circulation track is reduced. It is suitable when the arrangement position is limited by the operating environment of the driving device.

  In addition, according to the configuration in which an arbitrary number of rotor units are arranged on the circulation track, it is possible to prevent interference between adjacent rotor unit protrusions by providing a margin in the arrangement interval between the rotor units. it can.

  As described above, according to the drive device of the present invention, the torque density of the drive torque can be increased in the drive device in which the movable part moves along the circulation track.

It is a perspective view for demonstrating schematic structure of the drive device of this invention. It is a top view for demonstrating schematic structure of the drive device of this invention. It is a figure for demonstrating the rotor unit of this invention. It is a figure for demonstrating the helical motion on the circulation track | orbit of the rotor unit of this invention. It is a figure for demonstrating schematic structure of the stator of this invention. It is a figure for demonstrating the structure of a part of stator of this invention. It is a figure for demonstrating the example of a structure of the excitation part of this invention. It is a figure for demonstrating the example of a structure of the excitation part of this invention. It is a figure for demonstrating the structural example of the output part of this invention. It is a figure for demonstrating the example of a mechanical structure of the synchronizing part of this invention. It is a figure for demonstrating the structural example by the electrical control of the synchronizing part of this invention. It is a figure for demonstrating the structural example of the drive device which arrange | positions the rotor of this invention outside, and arrange | positions a stator inside. It is a figure for demonstrating the structural example of the drive device which arrange | positions the rotor of this invention inside, and arrange | positions a stator outside. It is a figure for demonstrating the structural example of the rotor of the drive device which arrange | positions the rotor of this invention inside, and arrange | positions a stator outside. It is a figure for demonstrating the structural example of the stator of the drive device which arrange | positions the rotor of this invention inside, and arrange | positions a stator outside. It is a figure for demonstrating the structural example of the output part of the drive device which arrange | positions the rotor of this invention inside, and arrange | positions a stator outside. It is a figure for demonstrating the structural example of the mechanical synchronizer of the drive device which arrange | positions the rotor of this invention inside, and arrange | positions a stator outside. It is a figure for demonstrating the structural example of the drive device which arrange | positions the rotor of this invention inside, and arrange | positions a stator outside. It is a figure for demonstrating the structural example which arrange | positions the rotor and stator of this invention on a side surface with respect to a circulation track | orbit. It is a figure for demonstrating arrangement | positioning and an output state of the rotor of this invention, and a stator. It is a figure for demonstrating the structure whose circulation track | orbit of the drive device of this invention is a track shape. It is a figure for demonstrating the structure which arrange | positions the rotor of this invention with the arrangement space | interval on a circulation track | orbit. It is a figure for demonstrating the structure which arrange | positions the rotor of this invention with the arrangement space | interval on a circulation track | orbit.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Hereinafter, the schematic configuration of the drive device of the present invention will be described with reference to FIGS. 1 and 2, the configuration example of the rotor will be described with reference to FIGS. 3 and 4, and the configuration example of the stator with reference to FIGS. 7 and 8, the configuration example and excitation phase of the excitation unit will be described, the configuration example of the output unit will be described using FIG. 9, and the configuration example of the synchronization unit will be described using FIGS. A modification will be described with reference to FIGS.

[Schematic configuration of drive unit]
1 and 2 are a perspective view and a plan view for explaining a schematic configuration of the drive device 1 of the present invention.

  The drive device 1 of the present invention includes a rotor 2, a stator 4, and an output unit 5. The configuration example shown in FIGS. 1 and 2 shows an arrangement configuration in which the stator 4 is disposed on the inner side, the rotor 2 is disposed on the outer side, and the output unit 5 is disposed on the outermost periphery.

  The rotor 2 includes a rotor shaft 2a and a spiral protrusion 2b provided on the outer peripheral portion of the rotor shaft 2a so as to protrude in the radial direction. The rotor 2 is rotated in accordance with the rotation of the rotor shaft 2a as shown in FIG. It moves on the circulation track 20 shown.

  The circulation track 20 indicates a position trajectory in which the rotor 2 moves, and constitutes a closed path that circulates. The circulation track 20 can be a circular track, an elliptical track, or a track-shaped track. The track shape is a shape in which two arcs having the same radius of curvature and arc length are connected by two line segments having the same length. As a modification example of the track shape, a similar shape such as a shape in which two arcs have different arc radii or a shape in which three or more arc shapes are used may be used.

  The stator 4 includes spiral grooves 4a having the same pitch as the pitch of the spiral protrusions 2b included in the rotor 2. The spiral groove 4 a is disposed along the circulation track 20. The spiral protrusion 2b of the rotor 2 moves on the circulation track 20 by spirally moving in the spiral groove 4a.

  The output unit 5 is in contact with the shaft end of the rotation shaft of the rotor 2 and is driven along the circulation track 20 as the rotor 2 moves in the rotor shaft direction.

  The rotor 2 can be configured by arranging one or a plurality of rotor units 3 on the circulation track 20. When the plurality of rotor units 3 constituting the rotor 2 are made shorter than the circulation track 20 in the axial direction of the rotor shaft 2a, The child units 3 are arranged on the circulation track 20 with a predetermined interval or a predetermined angular interval. The rotor unit 3 is helically rotatable around the rotor shaft 2a in the spiral groove portion 4a of the stator 4, and the rotor shaft 2a is rotated about the rotor shaft 2a as a rotation axis so that the axial direction of the rotor shaft 2a is increased. And move on the circular orbit 20.

  Each of the rotor units 3 and the stator 4 is configured such that the side surface in the axial direction of the spiral protrusion 2b included in the rotor 2 and the side surface in the axial direction of the spiral groove portion 4a of the stator 4 are opposed to each other. A driving force is generated by forming magnetic poles.

  The magnetic pole provided on the side surface is provided with magnetized portions alternately with N poles and S poles at predetermined equiangular intervals on either the side surface of the spiral projecting portion 2b or the side surface of the spiral groove portion 4a. It can be configured by arranging the excitation portions at a predetermined equiangular interval different from the equiangular interval provided with the magnetized portion on the other of the side surface of 2b or the side surface of the spiral groove portion 4a.

  1 and 2, the magnetized portion 2c is provided on the side surface of the spiral protrusion 2b of the rotor 2 and the magnetized portion 2c is provided on the side surface of the spiral groove 4a of the stator 4, and is different from the equiangular interval. The example of a structure which provided the excitation part 4b with the equal angle space | interval of is shown. The arrangement of the magnetized portion and the exciting portion is not limited to this arrangement example, and an exciting portion 4b is provided on the side surface of the helical protrusion 2b of the rotor 2, and a predetermined equiangular interval is provided on the side surface of the helical groove portion 4a of the stator 4. The magnetized portion 2c may be provided.

  The excitation unit 4b controls the excitation of the excitation unit 4b to advance each rotor unit 3 in the axial direction of the rotor shaft 2a while rotating each rotor unit 3 in a spiral manner with respect to the stator 4. With the movement of the rotor shaft 2a in the axial direction, the rotor 2 is moved on the circulation track 20, and the output unit 5 is driven along the circulation track.

  The exciter 4b can be constituted by an excitation coil, and forms a magnetic field that rotates around the rotor shaft by controlling the phase of the excitation voltage applied to the excitation coil. Due to the magnetic field action with the magnetized portion, the rotor unit 3 rotates about the rotor shaft 2a as the rotation axis, and in the axial direction of the rotor shaft 2a due to the spiral shape of the spiral protrusion 2b and the spiral groove 4a. An acting force is generated, and the rotor 2 is moved on the circulation track 20 together with the rotor unit 3.

  Therefore, in the driving device 1 of the present invention, the rotor unit 3 moves on the circulation track 20 by moving the rotor unit 3 in the axial direction of the rotor by the spiral movement with respect to the stator 4, and the output unit is moved along the circulation track 20. Drive.

[Rotator configuration]
A configuration example of the rotation unit that constitutes the rotor will be described with reference to FIGS. 3 and 4. FIG. 3 shows a schematic configuration of the main body of the rotor unit and a configuration provided with a magnetized portion of the rotor unit, and FIG. 4 shows a spiral motion state on the circulation track 20 of the rotor unit.

  The rotor unit 3 is provided with a spiral protrusion 2 b that protrudes in the radial direction on the outer peripheral portion of the rotor shaft 2 a, and constitutes a part of the rotor 2. The rotor unit 3 can be formed of a magnetic material such as iron.

  In the example of the rotor unit 3 shown in FIG. 3, the helical protrusion 2b has a structure having a length corresponding to two cycles in the rotation direction with respect to the rotor shaft 2a. The length in the direction can be arbitrarily determined in consideration of the generated driving force and interference with the adjacent rotor unit 3 during rotation.

  For example, the minimum length in the circumferential direction of the spiral protrusion 2b is the magnetic force generated when the magnetized part 2c provided on the spiral protrusion 2b and the excitation part 4b provided on the stator 4 face each other. However, it can be determined with a length sufficient for the rotor unit 3 to rotate around the rotor shaft 2a.

  In addition, the longest circumferential length of the spiral protrusion 2b is such that the spiral protrusions 2b rotate when protruding in the radial direction of the adjacent rotor units 3 in the set arrangement interval between the adjacent rotor units 3. The length can be determined so as not to interfere with the inside.

  4A and 4B show positions where the rotation of the rotor unit 3 is shifted by a half cycle. When the rotor unit 3 is rotated by a half circumference around the axis of the rotor shaft 2 a, the spiral protrusion 2 b is also rotated by a half circumference and the rotor unit 3 moves on the circulation track 20. FIG. 4B shows an example of moving leftward with respect to FIG.

  At this time, since the rotor unit 3 rotates on the arcuate circulation track 20, the relative positions of the tips of the spiral protrusions 2b of the adjacent rotor units 3 approach each other. At this time, if the tips of the spiral protrusions 2b interfere with each other, the rotation of the rotor unit 3 and the rotor 2 will be hindered. Therefore, the distance between the rotor unit 3 and the adjacent rotor unit 3 is interfered. Set to a range that does not occur.

  FIG. 3B shows a configuration in which magnetized portions 2 c are provided on both side surfaces with respect to the axial direction of the rotor shaft 2 a of the spiral protrusion 2 b of the rotor unit 3. FIG. 3B shows an example of the magnetized portion 2c in which N poles and S poles are alternately arranged at intervals of 90 °. The magnetized portion 2c can be configured, for example, by attaching a magnetized magnetic material such as a permanent magnet, but the magnetized configuration is not limited to this configuration. Further, the arrangement interval between the N pole and the S pole of the magnetized portion 2c is not limited to 90 °, and may be any predetermined equiangular interval.

  In FIG. 3 (b), connecting portions 6 a are provided at both end portions of the rotor shaft 2 a of the rotor unit 3. The connecting portion 6 a is configured by a universal joint 6 that connects adjacent rotor units 3 in the plurality of rotor units 3 so that each rotor unit 3 smoothly rotates and moves on the circulation track 20.

  When each rotor unit 3 rotates, the universal joint 6 eliminates the positional deviation caused by the rotor shaft 2a being on the circulation track 20 and not on a straight line, thereby enabling smooth rotation and movement. To do.

  In the universal joint 6, adjacent rotor units 3 are connected to each other by a connecting member 6b shown in FIG. 10 (shown in FIG. 4). The connecting parts 6a face each other when the rotor units 3 are arranged on the circulation track 20. Etc.). The orientation of the connecting portions 6a at both ends of the rotor unit 3 is provided with an angle shifted by 90 ° with respect to the rotor shaft 2a. By shifting the attachment angle of the connecting portion 6a, it is possible to reduce the overlapping of radial actions from the adjacent rotor units 3, and to smooth the spiral motion.

  Note that the connecting portion 6 a shown in FIG. 3B is a mechanical component constituting one form of the universal joint 6. The universal joint or the universal joint is not limited to such a mechanical configuration, but may be configured to electrically control the excitation state of the excitation unit. A mechanical universal joint or universal joint will be described with reference to FIG. 10, and a configuration that exhibits the same action as the universal joint or universal joint by electrical control will be described with reference to FIG.

[Structure of stator]
The structural example of a stator is demonstrated using FIG. 5, FIG. FIG. 5 shows a schematic configuration of the stator, and FIG. 6 shows a partial configuration of the stator.

  The stator 4 is arranged along the circulation track 20 and can be configured by connecting a plurality of divided portions. The stator 4 can be formed of a magnetic material such as iron.

  In FIG. 5, the stator 4 includes a spiral groove 4 a having the same pitch as the pitch of the spiral protrusions 2 b included in the rotor 2, and the spiral groove 4 a is disposed along the circulation track 20. The excitation part 4b is provided in 4a.

  6 shows a half-cycle block of the spiral groove 4a, FIG. 6 (a) shows a state in which no excitation part is provided, and FIG. 6 (b) shows an excitation part. Shows the state. The divided portion may be configured using one block corresponding to the half cycle shown in FIG. 6, or may be configured using a plurality of blocks corresponding to the half cycle.

  In FIG. 6, one wall part 4d which comprises the helical groove part 4a is formed in one block which comprises the stator 4. In FIG. The wall portion 4d forms a spiral groove portion 4a by being provided at a position twisted with respect to a direction orthogonal to the axial direction of the rotor.

  The wall 4d is formed with convex portions 4c for providing the exciting coils 4e on both side surfaces of the rotor shaft in the axial direction. FIG. 6B shows a state in which the excitation part 4 b is provided on the stator 4. The exciting part 4b can be configured by arranging an exciting coil 4e wound around the convex part 4c. The arrangement example of the excitation coil 4e of the excitation unit 4b shown in FIG. 6B shows an example in which excitation coils for three phases are arranged in a half cycle.

[Excitation configuration]
A configuration example of the excitation unit will be described with reference to FIGS. The configuration example shows an example of a three-phase winding.
In the configuration example shown in FIG. 7, the magnetized portion 2c shows an example in which one period is divided into four at 90 ° intervals and the N poles and S poles are alternately arranged in the circumferential direction (FIG. 7A, FIG. 7 (d)), the excitation unit 4b shows an example in which a half cycle is divided into three and the U phase, V phase, and W phase are sequentially arranged at intervals of 60 ° in the circumferential direction (FIG. 7B). FIG. 7 (e)).

  FIGS. 7A and 7B and FIGS. 7D and 7E show a state in which the rotor is rotated by 90 ° and a state in which the phase is shifted by 90 °. The excitation state shown in FIG. 7B is a state in which the N pole is formed by the U phase, the S pole is formed by the V phase, and the N pole is formed by the W phase. On the other hand, FIG. 7E shows a state in which the S pole is formed by the U phase, the N pole is formed by the V phase, and the S pole is formed by the W phase.

  FIG. 7C shows the magnetic pole position of the rotor and the excitation state of the stator in the states of FIGS. 7A and 7B, while FIG. 7F shows FIGS. 7D and 7B. The magnetic pole position of the rotor in the state of (e) and the excitation state of the stator are shown.

  In the configuration example shown in FIG. 8, the magnetized portion 2 c shows an example in which one period is divided into 8 at 45 ° intervals, and N poles and S poles are alternately arranged in the circumferential direction (FIG. 8A and FIG. 8). 8 (d)), the excitation unit 4b shows an example in which a half period is divided into 6 and the U phase, V phase, and W phase are sequentially arranged at intervals of 30 ° in the circumferential direction (FIG. 8B). FIG. 8 (e)).

  FIGS. 8A and 8B and FIGS. 8D and 8E show a state where the phase is shifted by 45 ° and the rotor is rotated by 45 °. The excited state shown in FIG. 8B is a state in which the N pole is formed by the U phase, the S pole is formed by the V phase, and the N pole is formed by the W phase, while FIG. The S pole is formed by the U phase, the N pole is formed by the V phase, and the S pole is formed by the W phase.

  FIG. 8 (c) shows the rotor magnetic pole position and the stator excitation state in the states of FIGS. 8 (a) and 8 (b), while FIG. 8 (f) shows FIG. 8 (d) and FIG. The magnetic pole position of the rotor in the state of (e) and the excitation state of the stator are shown.

[Configuration of output section]
A configuration example of the output unit 5 will be described with reference to FIG. The output unit 5 moves along the circulation trajectory as the rotor shaft of each rotor unit 3 of the rotor 2 moves in the axial direction. The output unit 5 includes a driven unit 5 a as a configuration for following the movement of the rotor unit 3. When the rotor unit 3 moves in the axial direction of the rotor shaft 2a, the end of the rotor shaft 2a of the rotor unit 3 comes into contact with the driven portion 5a and pushes the output portion 5 so that the output portion 5 becomes a circulation track. Move along.

[Configuration of synchronization unit]
A configuration example of the synchronization unit will be described with reference to FIGS. FIG. 10 is a diagram illustrating a configuration example of a synchronization unit having a mechanical configuration, and FIG. 11 is a diagram illustrating a configuration example of the synchronization unit by electrical control.

  A configuration example of the mechanical synchronization unit will be described with reference to FIG. The universal joint 6 can be used as a configuration example of the mechanical synchronization unit.

  The universal joint 6 connects the connecting portions 6a provided at the end portions in the axial direction of the rotor shaft 2a of the respective rotor units 3 between the adjacent rotor units 3 by connecting members 6b or the like. 3 is connected so as to be rotatable in an in-plane direction orthogonal to the rotor shaft 2a. In the adjacent rotor unit 3, the universal joint 6 is interlocked with the rotational motion around the rotor shaft 2a and the axial traveling motion of the rotor shaft 2a, and averages the rotational speed and the traveling speed. . Since all the rotor units 3 arranged on the circulation track are connected by the universal joint 6, the rotation speeds and the traveling speeds of all the rotor units 3 are averaged and become a constant speed.

  A configuration example of the synchronization unit by electrical control will be described with reference to FIG. In one configuration example of the synchronization unit by electrical control, the synchronization unit 7 rotates based on a sensor 8 that detects the rotational speed at which each rotor unit 3 rotates around each rotor shaft, and a detection signal of the sensor 8. A speed detection unit 9 that detects the speed and a phase control unit 10 that controls the excitation phase of the excitation unit 4b that drives the rotor unit 3 based on the rotation speed of the rotor unit 3 detected by the speed detection unit 9 are provided. .

  The excitation control unit 11 controls the excitation phase of the excitation unit 4 b based on the phase control of the phase control unit 10. By performing phase control between adjacent rotor units, the rotation speeds of the rotor units 3 rotating around the rotor shaft are made to coincide.

  The sensors 8 are arranged in the same number as the rotor units 3 in order to detect the rotational speed of each rotor unit 3, and the excitation control unit 11 is connected to each excitation unit 4 b of the stator 4 and individually excited. Although the phase is controlled, FIG. 11 shows only a part of the wiring that connects the sensor 8 and the excitation control unit 11 to the excitation unit 4 b of the stator 4.

  The synchronization unit controls the spiral motion of the rotor unit 3 with respect to the stator 4 and controls the rotor unit 3 so as not to contact the stator 4. The synchronizer by the mechanical configuration controls the helical motion by matching the rotational speeds of the plurality of rotor units 3 with a universal joint. Moreover, while controlling the space | interval of the helical protrusion part and the wall part of a helical groove part, the fluctuation | variation of the radial direction of the rotor unit 3 is suppressed, so that the rotor unit 3 does not contact the stator 4. Control.

  Moreover, the synchronizing part by electrical control controls the helical motion by making the rotational speeds of the plurality of rotor units 3 coincide with each other by phase control. Moreover, while controlling the space | interval of the helical protrusion part and the wall part of a helical groove part, the radial displacement between the rotor unit 3 and the stator 4 is suppressed, and the rotor unit 3 makes the stator 4 Control to avoid contact.

  The synchronizer by electrical control simultaneously performs two controls: a rotation control that controls the rotation of the rotor unit, and a gap control that controls the distance between the spiral protrusion and the wall of the spiral groove. In the rotation control, the magnetic fluxes of the U phase, V phase, and W phase of the stator in FIG. 7 are controlled by the excitation current. In the gap control, an excitation current having an electrical angle shifted by 90 ° with respect to the excitation current for generating the stator phase shown in FIG. 7 is used.

  By superimposing the excitation current used for rotation control and the excitation current used for gap control and supplying them to the excitation coil of the stator, both rotation control and gap control can be performed simultaneously.

[Modification]
In the configuration example described above, as shown in FIG. 12, the rotor 2 is arranged on the outside and the stator 4 is arranged on the inside. 12A and 12B show the positional relationship between the rotor 2 and the stator 4, and the stator 4 is disposed on the inner side with respect to the rotor 2 on the circulation track. FIG. 12B shows a state in which the rotor 2 is rotated 180 ° and moved in the left direction in the drawing with respect to the state shown in FIG. FIG. 12C shows a state in which the stator 4, the rotor 2, and the output unit 5 are annularly arranged in order from the inside to the outside, and FIG. 12D shows a cross section of the drive device. Yes.

  The positional relationship between the rotor 2 and the stator 4 is not limited to the above-described configuration, but the configuration in which the rotor 2 is disposed on the inner side and the stator 4 is disposed on the outer side, or the rotor 2 and the stator 4 are arranged in a circulation path. On the other hand, it can be set as the structure arrange | positioned in a side surface and juxtaposed.

  FIGS. 13-18 has shown the structural example which arrange | positions the rotor 2 inside and arrange | positions the stator 4 outside.

  The perspective view of Fig.13 (a) and the top view of FIG.13 (b) show the outline external shape of a drive device, the rotor 2 is arrange | positioned inside and the stator 4 is arrange | positioned outside.

  FIG. 14 shows a configuration example of the rotor unit 3 constituting the rotor 2 in the configuration in which the rotor 2 is arranged on the inner side and the stator 4 is arranged on the outer side. FIG. 14A shows a configuration without the connecting portion 6a, and FIG. 14B shows a configuration with the connecting portion 6a. The configuration of the rotor unit 3 can be substantially the same as the configuration shown in FIG. 3, and the protrusion angle of the spiral protrusion 2 b with respect to the rotor shaft 2 a is set to the spiral groove of the stator 4 disposed on the outside. In order to avoid interference between the spiral portions, the angle is set in accordance with the angle.

  FIG. 15 shows a configuration example of the stator 4 and the blocks constituting the stator 4 in the configuration in which the rotor 2 is disposed on the inner side and the stator 4 is disposed on the outer side.

  FIG. 15A is a perspective view showing the outer shape of the stator 4, in which a spiral groove 4a is formed inward, and an excitation part 4b is provided. FIG. 15B is the same as the structure shown in FIG. 6, and one wall part 4 d constituting the spiral groove part 4 a is formed in one block constituting the stator 4. The wall portion 4d forms a spiral groove portion 4a by being provided at a position twisted with respect to a direction orthogonal to the axial direction of the rotor.

  The wall 4d is formed with convex portions 4c for providing the exciting coils 4e on both side surfaces of the rotor shaft in the axial direction. FIG. 15 (b) shows a state where the stator 4 is not provided with the excitation part 4b, and FIG. 15 (c) shows a state where the stator 4 is provided with the excitation part 4b. The exciting part 4b can be configured by arranging an exciting coil 4e wound around the convex part 4c. The arrangement example of the excitation coil 4e of the excitation unit 4b shown in FIG. 15C is an example in which three-phase excitation coils are arranged in a half cycle.

  FIG. 16 shows a configuration example of the output unit 5 in the configuration in which the rotor 2 is disposed on the inner side and the stator 4 is disposed on the outer side. In the configuration example shown in FIG. 16, the output unit 5 is an example in which ribs are provided on both sides of the driven unit 5 a that contacts the rotor unit 3, and these are connected to form an annular movable member.

  FIG. 17 is a diagram illustrating a configuration example of a synchronization unit having a mechanical configuration in the configuration in which the rotor 2 is disposed on the inner side and the stator 4 is disposed on the outer side, similarly to FIG. 10.

  The universal joint 6 that constitutes the synchronization portion connects between the adjacent rotor units 3 by connecting members 6b provided at the end portions in the axial direction of the rotor shaft 2a of the respective rotor units 3 by connecting members 6b or the like. The rotor units 3 are coupled so as to be rotatable in an in-plane direction orthogonal to the rotor shaft 2a. In the adjacent rotor unit 3, the universal joint 6 is interlocked with the rotational motion around the rotor shaft 2a and the axial traveling motion of the rotor shaft 2a, and averages the rotational speed and the traveling speed. . Since all the rotor units 3 arranged on the circulation track are connected by the universal joint 6, the rotation speeds and the traveling speeds of all the rotor units 3 are averaged and become a constant speed.

  18A and 18B show the positional relationship between the rotor 2 and the stator 4, and the stator 4 is disposed outside the rotor 2 on the circulation track. FIG. 18B shows a state in which the rotor 2 is rotated 180 ° and moved in the left direction in the drawing with respect to the state shown in FIG. FIG. 18C shows a state in which the output unit 5, the rotor 2, and the stator 4 are annularly arranged in order from the inside to the outside, and the planar state and cross section of the driving device (FIG. 18D). )).

  FIG. 19 shows a configuration example in which the rotor 2 and the stator 4 are arranged on the side surface with respect to the circulation track. 19A and 19B, the stator 4A is arranged on one side with respect to the circulation trajectory of the rotor 2, the stator 4B is arranged on the other side, and the two stators 4A and 4B are used. The structural example which pinches | interposes the rotor 2 is shown. The output unit 5 can be arranged outside and / or inside the rotor 2. FIG. 19C shows a configuration example in which the stator 4 is arranged on one side surface and the output unit 5 is arranged on the other side surface with respect to the circulation trajectory of the rotor 2.

  FIG. 20 shows an output state in a configuration in which the rotor 2 is arranged on the inner side and the stator 4 is arranged on the outer side, and a configuration in which the rotor 2 and the stator 4 are arranged on the side surface with respect to the circulation track.

  In the output example shown in FIG. 20A, the output shaft 12 is arranged at the center position of the circular orbit formed by the rotor 2, the stator 4, and the output unit 5, and the output shaft 12 and the rotor 2 The configuration is such that the spokes 13 are connected to each other, and the rotational motion of the rotor 2 can be extracted as the rotational motion of the output shaft 12. FIG. 20A shows a configuration in which the rotor 2 is arranged outside the stator 4 and the output shaft 12 is driven by the output unit 5 provided on the outermost periphery. It can also be set as the structure which is arrange | positioned inside and connects the output part 5 provided in the innermost periphery to the output shaft 12. FIG.

  The output example shown in FIG. 20B is a configuration in which the rotor 2 is disposed inside the stator 4 and the output unit 5 provided on the innermost periphery is used as a drive portion.

  20 (c) and 20 (d) show an output example in which the rotor 2 and the stator 4 are arranged on the side surface with respect to the circulation track, and the output unit 5 disposed outside the rotor 2 is driven. The example which makes it a part and the example which makes the output part 5 distribute | arranged to the side surface of the rotor 2 a drive part are shown.

  The configuration example shown in FIGS. 21A and 21B shows a plane and a cross section of an example in which the shape of the circulation track is changed to a circular shape or a substantially elliptical shape to be a track shape or a substantially track shape. The track shape is a shape in which two arcs having the same radius of curvature and arc length are connected by two line segments having the same length. The substantially track shape includes a similar shape such as a shape in which two arcs have different arc radii or a shape in which three or more arc shapes are used.

  In the drive device of the present application, the rotor unit 3 constituting the rotor 2 may be arranged substantially continuously on the circulation track, or may be arranged with an arrangement interval on the circulation track.

  FIG. 22 shows a configuration in which four rotor units 3 are arranged at 90 ° intervals with respect to a circular circulation track. FIG. 22A shows a configuration in which the rotor 2 is arranged outside the stator 4, and FIG. 22B shows a configuration in which the rotor 2 is arranged inside the stator 4.

  FIG. 23 shows a configuration in which one rotor unit 3 is arranged on a circular circulation track. FIG. 23A shows a configuration in which the rotor 2 is arranged outside the stator 4, and FIG. 23B shows a configuration in which the rotor 2 is arranged inside the stator 4. In this configuration, spacers are provided at a predetermined interval between the rotor 2 and the stator 4, thereby holding the rotor 2 with respect to the stator 4 at a predetermined interval.

  In each of the above configuration examples, a configuration is shown in which the rotor is provided with a magnetized portion and the stator is provided with an exciting portion using an exciting coil. However, the rotor may be provided with an exciting portion and the stator may be provided with a magnetized portion. Good. In the configuration in which the rotor is provided with the excitation unit, the excitation current can be supplied to the excitation coil by using a slip ring or an induction current.

  The present invention is not limited to the embodiments described above. Various modifications can be made based on the spirit of the present invention, and these are not excluded from the scope of the present invention.

  The drive device of the present invention can be applied to a drive device used for industrial actuators used in industrial equipment, transportation equipment, etc., for example, in in-wheel motors used in electric vehicles, assist equipment such as assist robots, etc. Can be applied.

DESCRIPTION OF SYMBOLS 1 Drive device 2 Rotor 2a Rotor shaft 2b Helical protrusion 2c Magnetization part 3 Rotor unit 3a Magnetization part 4 Stator 4A, 4B Stator 4a Helical groove part 4b Excitation part 4c Convex part 4d Wall part 4e Excitation Coil 5 Output section 5a Drive section 6 Universal joint 6a Connection section 6b Connection member 7 Synchronization section 8 Sensor 9 Speed detection section 10 Phase control section 11 Excitation control section 12 Output shaft 13 Spoke 20 Circulating orbit

Claims (9)

A rotor shaft, and a spiral protrusion provided in a radial direction on the outer periphery of the rotor shaft, and a rotor that moves on a circulation path along with the rotation of the rotor shaft;
A stator in which spiral grooves with the same pitch as the pitch of the spiral protrusions provided in the rotor are arranged along the circulation path;
An output unit that comes into contact with the rotor and drives along the circulation path along with the movement of the rotor in the axial direction of the rotor;
The rotor is composed of one or a plurality of rotor units whose length in the rotor axial direction is shorter than the length of the circulation track, and the rotor unit is arranged in the spiral groove portion of the stator. It can rotate in a spiral around the axis,
The rotor unit and the stator are opposed to the axial side surface of the helical protrusion of the rotor unit and the axial side surface of the helical groove of the stator,
A magnetized portion is alternately provided with N poles and S poles at predetermined equiangular intervals on either the side surface of the spiral protrusion or the side surface of the spiral groove.
An excitation part is arranged at a predetermined equiangular interval different from the equiangular interval on the other side of the spiral protrusion or the side of the spiral groove,
The exciter controls the excitation of the exciter to advance the rotor units in the direction of the rotor axis while rotating the rotor units spirally with respect to the stator, and the rotor of each rotor unit. A drive device that moves the output unit along the circulation path along with the movement in the axial direction.   The drive device according to claim 1, further comprising: a synchronization unit that synchronizes each rotation speed of the plurality of rotor units rotating around the rotor shaft.   The synchronization unit is a universal joint or a universal joint that is rotatably connected between adjacent rotor units in an in-plane direction orthogonal to the rotor axis of each of the rotor units. The drive device according to claim 2, wherein the rotational speeds of the two rotor units rotating around the respective rotor shafts coincide with each other. The synchronization unit includes a sensor that detects a rotation speed at which each rotor unit rotates around each rotor axis;
A phase control unit that controls the excitation phase of the excitation unit that drives the rotor unit based on the rotation speed of the rotor unit obtained based on the detection signal of the sensor;
3. The drive device according to claim 2, wherein between the adjacent rotor units, the rotational speeds of the two rotor units rotating around the rotor shaft are made to coincide with each other by the phase control.   5. The drive device according to claim 1, wherein the stator is disposed inside or outside a circulation track on which the rotor moves.   5. The driving apparatus according to claim 1, wherein the stator is disposed on a side surface with respect to a circulation track on which the rotor moves. 6.   The drive device according to claim 6, wherein the stator is disposed on both sides with respect to a circulation track on which the rotor moves, and sandwiches the rotor from both sides.   The drive device according to any one of claims 1 to 7, wherein the circulation track has one of a circular shape, a substantially elliptical shape, a track shape, and a substantially track shape. .   The magnetizing interval is 90 °, and the excitation unit is arranged at 60 °, or the magnetizing interval is 45 ° and the excitation unit is arranged at 30 °. The drive device according to any one of claims 1 to 8.